Glue injection robot suitable for seam beautifying construction and operation method

Abstract

The invention relates to the technical field of building construction, and particularly discloses a glue injection robot suitable for seam beautifying construction and an operation method. Comprising a mobile vehicle body, a glue injection mechanism which is slidably mounted on the mobile vehicle body and is used for injecting glue into gaps formed among ceramic tiles, an air drying mechanism which is mounted on the mobile vehicle body and is used for air-drying the glue injected by the glue injection mechanism, and a scraper mechanism which is mounted on the mobile vehicle body and is lifted in the Z-axis direction; the glue injection mechanism, the air drying mechanism and the scraper mechanism are sequentially arranged in the moving direction of the moving trolley body. Compared with an effective technology, automatic and intelligent glue injection can be effectively achieved for gaps between ceramic tiles; compared with the prior art, the working efficiency is greatly improved; through the arrangement of the seam pressing mechanism, the phenomenon of hollowing in the seam after glue injection is effectively avoided, and the construction quality is greatly improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of building construction, more particularly to a glue injection robot suitable for joint beautifying construction and an operation method. BACKGROUND

[0002] With the fine development of the building decoration industry, as a key process for improving the appearance and preventing water and mildew, the market demand for ceramic tile joint beautifying is growing. According to incomplete statistics, the potential market size of ceramic tile joint beautifying products has exceeded 100 billion yuan, but the maturity of the market is less than 10%, which means that there is still huge development space in the future. The joint beautifying construction seems simple, but it is actually technically difficult. The final effect is not ideal when many owners try it themselves, and the core reason is that the construction experience is too high. Therefore, the market demand for professional joint beautifying workers is very strong.

[0003] The glue injection stage is a concentrated test of the skills and experience of the constructors. Many factors in the joint beautifying construction process will affect the construction quality. For example, for two-component epoxy colored sand and real ceramic glue products, the mixture pipe needs to be fully mixed before glue injection. If the mixing is not sufficient, or the first 10-15 cm of the glue that is not mixed uniformly is not discarded at the beginning of glue injection, the joint beautifying agent cannot be cured normally, and it will always be soft and sticky, and finally it can only be completely removed and reworked, causing huge waste. For example, uniform speed and smooth movement are required during glue injection. If the speed is too fast, the glue injection is insufficient, and the inside of the gap is empty; if the speed is too slow, too much glue will overflow, causing waste and subsequent cleaning difficulties. The force of the glue gun also directly affects the amount of glue injection. Insufficient injection will cause concave; too much overflow will waste materials and increase workload.

[0004] At the same time, with the popularity of fine houses in recent years and the involvement of a large number of problems related to joint beautifying, the quality requirements of joint beautifying for large construction enterprises are becoming increasingly strict. Therefore, how to improve the construction quality and efficiency of joint beautifying is a difficult problem that technicians in the field have been thinking about. SUMMARY

[0005] The technical problem to be solved by the present application is to provide a glue injection robot suitable for joint beautifying construction and an operation method. The solution adopted by the present application to solve the technical problem is: A glue injection robot suitable for joint beautifying construction, comprising a mobile vehicle body, a glue injection mechanism slidably installed on the mobile vehicle body and used for injecting glue into the gap formed between the ceramic tiles, a drying mechanism installed on the mobile vehicle body and used for drying the glue injected by the glue injection mechanism, and a scraper mechanism installed on the mobile vehicle body and lifted along the Z-axis direction; the glue injection mechanism, the drying mechanism, and the scraper mechanism are sequentially arranged along the moving direction of the mobile vehicle body.

[0006] In some possible embodiments, a jointing mechanism is further arranged between the glue injection mechanism and the air-drying mechanism.

[0007] In some possible embodiments, the jointing mechanism comprises a supporting arm hinged to the bottom of the moving vehicle body, an electric push rod one hinged to the supporting arm at one end and hinged to the bottom of the moving vehicle body at the other end, and a ball head mounted at the end of the supporting arm away from the moving vehicle body.

[0008] In some possible embodiments, a heating bin for heating the ball head is arranged at the bottom of the moving vehicle body.

[0009] In some possible embodiments, the scraping mechanism comprises a lifting mechanism mounted at the bottom of the moving vehicle body, and a scraper mounted at the bottom of the lifting mechanism and moving along the Z-axis direction under the driving of the lifting mechanism.

[0010] In some possible embodiments, the lifting mechanism comprises an electric push rod two connected to the moving vehicle body at one end and connected to the scraper at the other end, and the scraper comprises a main body connected to the electric push rod two and a blade arranged at the side of the main body close to the air-drying mechanism.

[0011] In some possible embodiments, the length direction of the blade edge is perpendicular to the moving direction of the moving vehicle body and arranged along the Y-axis direction, and the center of the blade edge is on the same straight line with the ball center.

[0012] In some possible embodiments, the glue injection mechanism comprises a glue cylinder mounted on the moving vehicle body, a glue injection head arranged at the bottom of the moving vehicle body and communicated with the glue cylinder, and a driving mechanism mounted on the moving vehicle body and used for controlling the linear motion of the glue injection head along the Z-axis direction and the Y-axis direction.

[0013] In some possible embodiments, the driving mechanism comprises a sliding table arranged at the bottom of the moving vehicle body and slidingly matched with the glue injection head along the Y-axis direction, a vertical lifting assembly mounted on the moving vehicle body and used for controlling the sliding of the sliding table along the Z-axis direction, and a Y-axis driving member used for driving the sliding of the glue injection head along the Y-axis direction.

[0014] A glue injection robot and operation method suitable for joint sealing construction, comprising the following steps: The moving vehicle body moves to a specified position according to the construction operation requirement, adjusts the position of the glue nozzle in the glue injection mechanism in the Y-axis direction and the Z-axis direction according to the joint position, so that the glue nozzle is located directly above the joint, and then the operation is performed; During the operation, the moving vehicle body is controlled to move along the length direction of the joint, and the glue nozzle performs the glue injection operation on the joint; The moving vehicle body continuously moves along the length direction of the joint, and when the glue nozzle completes a section of glue injection operation on the joint, the jointing mechanism arranged at the bottom of the moving vehicle body performs the jointing operation on the section. With the proceeding of the joint pressing operation, the air-drying mechanism will air-dry the part of the glue after the joint pressing operation, and the scraper mechanism will clean the glue on the tiles in the air-drying area of the air-drying mechanism until the glue injection, joint pressing, air-drying and cleaning operations are completed on the whole gap.

[0015] Compared with the prior art, the present application has the following advantages: Compared with the effective technology, the present application can effectively realize the automatic and intelligent glue injection between the tiles; compared with the prior art, the work efficiency is greatly improved. Through the setting of the joint pressing mechanism, the present application can effectively avoid the hollow phenomenon in the gap after the glue injection, and greatly improve the construction quality. BRIEF DESCRIPTION OF DRAWINGS

[0016] Figure 1 is a structural schematic view of the present application; Figure 2 is a side view of the present application; Figure 3 is a structural schematic view of the mobile vehicle body, the depth camera, the glue injection mechanism, the pressing mechanism, the air-drying mechanism and the scraper mechanism in the present application; Figure 4 is a bottom view of the present application; Among them: 1. mobile vehicle body; 2. glue injection mechanism; 21, glue injection head; 3. joint pressing mechanism; 31, support arm; 32, ball head; 4. air-drying mechanism; 5. scraper mechanism; 51, electric push rod two; 52, scraper; 6. laser radar; 7. depth camera. DETAILED DESCRIPTION

[0017] In the present application, unless otherwise explicitly specified and limited, the terms "mounting", "connecting", "connecting", "fixing" and the like should be understood in a broad sense, for example, it can be fixed connection, or detachable connection, or integrated; it can be directly connected, or indirectly connected through an intermediate medium, it can be the internal communication of two elements or the interaction relationship of two elements. The "first", "second" and similar words mentioned in the present application do not represent any order, quantity or importance, but only distinguish different components. Similarly, "one" or "a" and the like do not represent a quantity limit, but represent the existence of at least one. In the implementation of the present application, the association relationship of the associated objects is described as "and / or", which means that there can be three relationships, for example, A and / or B can represent three cases: A exists alone, A and B exist together, and B exists alone. In the description of the embodiments of the present application, unless otherwise specified, "a plurality of" means two or more. For example, a plurality of positioning columns means two or more positioning columns. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0018] The present application will be described in detail below.

[0019] As Figures 1-4 shown: A glue injection robot suitable for joint construction, comprising a mobile vehicle body 1, a glue injection mechanism 2 slidingly mounted on the mobile vehicle body 1 and used for injecting glue into the gap formed between the tiles, a drying mechanism 4 mounted on the mobile vehicle body 1 and used for drying the glue injected by the glue injection mechanism 2, and a scraper mechanism 5 mounted on the mobile vehicle body 1 and lifting along the Z-axis direction; the glue injection mechanism 2, the drying mechanism 4 and the scraper mechanism 5 are arranged in sequence along the moving direction of the mobile vehicle body 1.

[0020] In some possible embodiments, a joint pressing mechanism 3 is further arranged between the glue injection mechanism 2 and the drying mechanism 4, so that the glue can be pressed into the gap, avoiding the situation that the glue cannot be fully injected, and greatly improving the construction quality.

[0021] In some possible embodiments, the joint pressing mechanism 3 comprises a support arm 31 hinged to the bottom of the mobile vehicle body 1, an electric push rod one end of which is hinged to the support arm 31 and the other end of which is hinged to the bottom of the mobile vehicle body 1, and a ball head 32 mounted on the end of the support arm 31 away from the mobile vehicle body 1. When the glue in the gap is not compacted, the electric push rod one will form a larger gap between the ball head 32 and the gap, avoiding the influence of the ball head 32 on the normal movement of the mobile vehicle body 1 along the length direction of the gap; by adjusting the position of the ball head 32 and the gap, the position of the ball head 32 can also be adjusted according to the use requirements when the tiles are not flat.

[0022] In some possible implementation manners, a heating bin for heating the ball head 32 is arranged at the bottom of the mobile vehicle body 1. Specifically, when the pressing and sealing mechanism 3 is not used to perform the pressing and sealing operation on the gap after the glue injection, the ball head 32 is located in the heating bin, and the heating assembly in the heating bin is used to heat the ball head 32, so that the temperature of the ball head 32 is 40-50 ℃. When the pressing and sealing is performed, the electric push rod one applies a force to the supporting arm 31, so that the heated ball head 32 moves to the gap in sequence until the ball head 32 can perform the compaction operation on the glue in the gap. The compaction of the glue by the heated ball head 32 can reduce the adhesion between the ball head 32 and the glue, so that the pressing and sealing operation is smoother. Preferably, the heating bin is arranged between the supporting arm 31 and the air drying mechanism 4.

[0023] In some possible implementation manners, the scraper mechanism 5 comprises a lifting mechanism arranged at the bottom of the mobile vehicle body 1, and a scraper 52 arranged at the bottom of the lifting mechanism and moving along the Z-axis direction under the driving of the lifting mechanism. The lifting mechanism comprises an electric push rod two 51 connected to the mobile vehicle body 1 at one end and connected to the scraper 52 at the other end. The scraper 52 comprises a main body connected to the electric push rod two 51, and a blade arranged on the side of the main body close to the air drying mechanism 4.

[0024] Specifically, when the scraper 52 is not used, a gap is formed between the scraper 52 and the ceramic tile. Only when it is necessary to clean the glue on the ceramic tile on both sides of the gap, the two electric push rod twos 51 are elongated to control the movement of the scraper 52 to the side close to the gap, so that the glue on the ceramic tile can be cleaned by the action of the scraper 52.

[0025] In some possible implementation manners, the length direction of the blade edge of the blade is perpendicular to the moving direction of the mobile vehicle body 1 and arranged along the Y-axis direction, and the center of the blade edge is on the same straight line as the center of the ball head 32. The glue on the ceramic tile on both sides of the gap can be effectively cleaned by using this arrangement.

[0026] In some possible implementation manners, the glue injection mechanism 2 comprises a glue cylinder arranged on the mobile vehicle body 1, a glue injection head 21 arranged at the bottom of the mobile vehicle body 1 and communicated with the glue cylinder, and a driving mechanism arranged on the mobile vehicle body 1 and used to control the linear motion of the glue injection head 21 along the Z-axis direction and the Y-axis direction. Specifically, the glue cylinder is used to store the glue and deliver the glue to the glue injection head 21, and the glue is injected into the gap directly below the glue nozzle through the glue nozzle of the glue injection head 21. Before glue injection, the glue injection head 21 is controlled to move along the Z-axis direction by the driving mechanism to adjust the distance between the glue nozzle and the gap, so that the distance is 1-2 cm, and then the glue injection head 21 is controlled to move along the Y-axis direction so that the axis of the glue nozzle and the axis of the long direction of the gap are in a vertical plane, the center control of the glue nozzle relative to the gap is realized, and the glue can be well injected into the gap.

[0027] In some possible embodiments, the driving mechanism includes a sliding table arranged at the bottom of the moving vehicle body 1 and in sliding cooperation with the glue injection head 21 along the Y-axis direction, a vertical lifting assembly installed on the moving vehicle body 1 and used for controlling the sliding of the sliding table along the Z-axis direction, and a Y-axis driving piece used for driving the sliding of the glue injection head 21 along the Y-axis direction. Specifically, the vertical lifting assembly and the Y-axis driving assembly can be realized by using a linear driving module in the prior art, and the improvement point of the present application is not in the specific structure of the vertical lifting assembly and the Y-axis driving assembly. The electric push rod in the present application is a prior art, and the internal structure thereof will not be described here.

[0028] It should be noted that, in order to ensure that the moving vehicle body 1 can realize normal movement, a laser radar 6 is arranged at the top of the moving vehicle body 1 to realize the identification of obstacles in the moving process. In order to effectively realize the position of the gap at which the moving vehicle body 1 can quickly move, a depth camera 7 is arranged on the front and rear sides of the moving vehicle body 1 along the moving direction thereof, and the position of the gap is realized by the two groups of depth cameras 7. In order to realize the measurement of the corresponding gap depth, so that the glue injection mechanism 2 can effectively realize the glue injection work, a depth camera 7 is also arranged at the bottom of the moving vehicle body 1 and on the side away from the air drying mechanism 4 of the glue injection mechanism 2.

[0029] Further, a glue stirring bin is arranged in the moving vehicle body 1, and the materials in the plurality of glue cylinders are first conveyed to the stirring bin during use, and then the glue injection head 21 is conveyed after uniform stirring to realize the glue injection work. The air drying mechanism 4 includes a main device installed in the moving vehicle body 1 and an air port arranged at the bottom of the moving vehicle body 1 and in communication with the main device. A filter screen is arranged on the air port. The hot air generated by the main device is conveyed to the moving vehicle body 1 through the air port, and acts on the glue after passing through the air port, so as to realize the rapid drying of the glue, so that the scraper mechanism 5 can clean the dried glue on the ceramic tile.

[0030] It should be noted that a control module is arranged on the moving vehicle body 1, the control module is connected with the depth camera 7, the laser radar 6, the Y-axis driving piece, the vertical lifting driving assembly, the electric push rod, the air drying mechanism 4 and the heating bin to realize automatic control. Of course, the control module can also be connected with a terminal, and the terminal is a mobile phone, a tablet computer or a computer.

[0031] A glue injection robot and operation method suitable for joint construction, specifically comprising the following steps: The mobile vehicle body 1 moves to the designated position according to the construction operation requirements, adjusts the position of the glue nozzle in the glue injection mechanism 2 in the Y-axis direction and the Z-axis direction according to the joint position, so that the glue nozzle is located directly above the joint, and the operation is performed; During the operation, the mobile vehicle body 1 is controlled to move along the length direction of the joint, and the glue nozzle will perform glue injection work on the joint; The mobile vehicle body 1 continuously moves along the length direction of the joint, and when the glue nozzle completes a section of glue injection work on the joint, the joint pressing mechanism 3 arranged at the bottom of the mobile vehicle body 1 will perform joint pressing work on the section; With the joint pressing work being performed, the air drying mechanism 4 will dry the glue body after the joint pressing work is completed, and the scraper mechanism 5 will clean the glue body on the tile in the drying area of the air drying mechanism 4 until the glue injection, joint pressing, air drying and cleaning work on the entire joint is completed.

[0032] Specifically, the robot is placed at the starting position of the construction area, and the glue cylinder is installed.

[0033] When injecting glue, the depth camera 7 at the bottom of the mobile vehicle body 1 automatically identifies the tile joint, adjusts the glue nozzle of the glue injection mechanism 2 through movement along the X-axis and the Y-axis, and positions the glue nozzle directly above the joint, maintaining a distance of 1-2 cm from the tile; The glue injection mechanism 2 pushes the glue body at a constant speed and pressure, causing the glue body to be ejected from the glue nozzle, ensuring uniform and continuous glue output; specifically, at the intersection of the cross joint, a slight pause is made to ensure sufficient filling at the intersection point; After the glue injection program is completed or follows the preset path, the support arm 31 of the joint pressing mechanism 3 is automatically lowered, causing the ball head 32 heated to 40-50°C to approach the joint side and compact the glue body on the joint. Heating the ball head 32 can effectively reduce the viscosity of the glue body, making the joint pressing smoother. For cross joint processing, the robot will perform the standard "first one side, then the other side" joint pressing logic to ensure that the intersection point is smooth and beautiful without interface marks.

[0034] After the glue pressing is completed, the air drying program can be performed; the air outlet at the bottom of the mobile vehicle body 1 blows out uniform hot air at 40-60°C, covering the surface of the just pressed joint sealant; this process can significantly accelerate the surface solidification speed of the joint sealant, shorten the surface hardening time, and facilitate faster subsequent excess material cleaning.

[0035] Subsequently, glue cleaning work is performed; during cleaning, the cutting edge of the scraper 52 forms a 45° angle with the surface of the tile and travels close to the surface of the tile at a constant force, cleaning the glue on the tile; Preferably, a dust suction system is provided on the mobile vehicle body, by which the cleaned gel is collected.

[0036] The application is not restricted to the described specific embodiments. The application extends to any novel one, or any new combination, of the features disclosed in this specification, and to any novel method or process disclosed, or any novel combination of the steps of any disclosed method or process.

Claims

1. A glue-injecting robot suitable for tile grout application, characterized in that, It includes a mobile vehicle body, an injection mechanism that is slidably mounted on the mobile vehicle body for injecting adhesive into the gaps formed between tiles, a drying mechanism mounted on the mobile vehicle body for drying the adhesive injected by the injection mechanism, and a scraper mechanism mounted on the mobile vehicle body and moving up and down along the Z-axis; the injection mechanism, drying mechanism, and scraper mechanism are arranged sequentially along the moving direction of the mobile vehicle body.

2. The glue-injecting robot suitable for tile grout application according to claim 1, characterized in that, It also includes a seam pressing mechanism located between the glue injection mechanism and the air drying mechanism.

3. The adhesive injection robot suitable for tile grout application according to claim 2, characterized in that, The seam pressing mechanism includes a support arm hinged to the bottom of the moving vehicle body, an electric push rod with one end hinged to the support arm and the other end hinged to the bottom of the moving vehicle body, and a ball head installed on the end of the support arm away from the moving vehicle body.

4. The adhesive injection robot suitable for tile grout application according to claim 2, characterized in that, A heating chamber for heating the ball head is provided at the bottom of the mobile vehicle body.

5. The adhesive injection robot suitable for tile grout application according to claim 3, characterized in that, The scraper mechanism includes a lifting mechanism installed at the bottom of the moving vehicle body and a scraper installed at the bottom of the lifting mechanism and moving along the Z-axis direction under the drive of the lifting mechanism.

6. The glue-injecting robot suitable for tile grout application according to claim 5, characterized in that, The lifting mechanism includes an electric push rod 2 connected at one end to the moving vehicle body and at the other end to the scraper; the scraper includes a main body connected to the electric push rod 2 and a blade disposed on the side of the main body near the drying mechanism.

7. The adhesive injection robot suitable for tile grout application according to claim 6, characterized in that, The length direction of the cutting edge of the blade is perpendicular to the moving direction of the moving vehicle and is set along the Y-axis, and the center of the cutting edge is on the same straight line as the center of the ball head.

8. A glue-injecting robot suitable for tile grout application according to any one of claims 1-7, characterized in that, The glue injection mechanism includes a glue cylinder mounted on the mobile vehicle body, a glue injection head disposed at the bottom of the mobile vehicle body and communicating with the glue cylinder, and a drive mechanism mounted on the mobile vehicle body for controlling the glue injection head to move linearly along the Z-axis and Y-axis directions.

9. A glue-injecting robot suitable for tile grout application according to claim 8, characterized in that, The drive mechanism includes a slide table disposed at the bottom of the mobile vehicle body and slidingly engaged with the dispensing head along the Y-axis direction, a vertical lifting assembly mounted on the mobile vehicle body for controlling the slide table to slide along the Z-axis direction, and a Y-axis drive component for driving the dispensing head to slide along the Y-axis direction.

10. A glue-injecting robot and its operating method based on any one of claims 1-9, applicable to tile grout application, characterized in that, Specifically, the following steps are included: The mobile vehicle moves to the designated location according to the construction work requirements. The position of the nozzle in the glue injection mechanism is adjusted in the Y-axis and Z-axis directions according to the gap location so that the nozzle is directly above the gap for operation. During operation, the moving vehicle is controlled to move along the length of the gap, and the nozzle will inject adhesive into the gap. The moving vehicle continues to move along the length of the gap. After the nozzle completes a section of glue injection into the gap, the pressing mechanism set at the bottom of the moving vehicle will press the gap. As the grouting operation progresses, the drying mechanism will dry the portion of the adhesive that has been applied after the grouting operation is completed, and the scraper mechanism will clean the adhesive that is applied to the tile in the drying area of ​​the drying mechanism until the entire grout line is filled with adhesive, grouted, dried and cleaned.

Images